Photovoltaic power generation and energy storage assembly device

Abstract

The application relates to a photovoltaic power generation energy storage assembly device, and belongs to the technical field of photovoltaic power generation. In order to solve the problems of large manual labor intensity, poor equipment versatility, difficulty in self-adapting to an inclined support and easy damage of components caused by extrusion during assembly of an existing photovoltaic component, the application comprises a mechanical arm fixedly installed on a caterpillar vehicle, a rotating shaft, a driving assembly, a mounting frame, a supporting plate, a vertical rod, a rotating disc, a locking assembly, a mounting plate, a compensation assembly, a distance measuring sensor, an adjusting assembly and multiple adsorption assemblies. The application realizes self-adaptive adjustment of adsorption points by collecting signals in real time through the distance measuring sensor. The two-stage adjusting structure can adapt to grabbing operations of photovoltaic components of multiple specifications. The compensation assembly cooperates with the rotating disc to adapt to the inclined support, buffers the rigid impact caused by assembly and downward pressing, the locking assembly realizes power-off locking to guarantee posture stability, the mechanical arm and the caterpillar vehicle are matched to complete full-automatic transfer and assembly of the photovoltaic component, and the assembly precision of the photovoltaic component and the overall automatic operation level are improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic power generation technology, specifically to a photovoltaic power generation and energy storage assembly device. Background Technology

[0002] The main principle of photovoltaic (PV) power generation is the photoelectric effect of semiconductors. PV power generation is a technology that uses the photovoltaic effect at the semiconductor interface to directly convert light energy into electrical energy. A PV power generation energy storage system mainly consists of a PV power generation unit and an energy storage unit. The PV power generation unit mainly consists of solar panels, a controller, and an inverter. Solar cells are connected in series and then encapsulated for protection to form a large-area solar cell module. The energy storage unit is used to store the electrical energy generated by the PV module. The two together constitute a PV power generation energy storage system.

[0003] Currently, photovoltaic (PV) module assembly largely relies on manual handling of PV modules to install and fix them onto PV brackets. This manual installation method is labor-intensive and inefficient. Even with the availability of some auxiliary PV assembly equipment, the overall level of automation remains low, making it difficult to ensure a tight fit between PV modules and brackets, and failing to effectively compensate for assembly position errors. This often results in PV modules not fitting tightly, being partially suspended, or being damaged by rigid compression. Furthermore, the adsorption structures of existing assembly equipment are mostly fixed, unable to adaptively adjust the spacing of adsorption points according to PV modules of different lengths and widths. This results in poor equipment adaptability and versatility, still requiring manual alignment adjustments during operation. This significant human intervention makes it unsuitable for the batch automated assembly of multi-specification PV modules, failing to meet the current demands for efficient, high-precision, and automated construction in PV power generation and energy storage projects.

[0004] To address the above issues, a photovoltaic power generation and energy storage assembly device is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a photovoltaic power generation and energy storage assembly device. By using this device, the problems mentioned in the background are solved, such as the inability of existing assembly equipment to adapt to photovoltaic modules of different specifications, low degree of automation, poor assembly and bonding accuracy, inability to offset assembly errors, and easy occurrence of loose bonding and crushing damage of photovoltaic modules.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic power generation and energy storage assembly device, comprising a robotic arm fixedly mounted on a tracked vehicle, a rotating shaft rotatably mounted on the robotic arm, a drive assembly for driving the rotating shaft to rotate on the robotic arm, a mounting frame fixedly sleeved on the outer ring of the rotating shaft, a support plate fixedly mounted on the bottom of the mounting frame, a vertical pole fixedly mounted on the bottom center of the support plate, a turntable rotatably mounted on the bottom outer ring of the vertical pole, a locking assembly for restricting the rotation of the turntable between the turntable and the vertical pole, an mounting plate fixedly mounted on the outer ring of the turntable, a compensation assembly between the mounting plate and the support plate, distance sensors symmetrically fixed on both sides of the mounting plate, and an adjustment assembly and multiple adsorption assemblies at the bottom of the mounting plate.

[0007] Furthermore, the drive assembly includes two fixed plates fixedly mounted on the robotic arm, a servo motor is fixedly mounted on the top surface of one of the fixed plates, a worm gear is fixed to the output shaft of the servo motor, and the worm gear is rotatably connected to the two fixed plates.

[0008] Furthermore, a worm gear is fixedly sleeved on the outer ring of the rotating shaft, and the worm and the worm gear mesh with each other.

[0009] Furthermore, the locking assembly includes an inner rod fixedly installed inside the turntable, an outer rod fixedly installed inside the upright, the inner rod and the outer rod rotatably engaging, a circular groove being formed inside the inner rod, and a support ring being fixedly installed on the inner ring of the outer rod, with the support ring and the inner rod forming a rotatable engagement through the circular groove.

[0010] Furthermore, an electromagnet is fixedly installed on the side wall of the support ring, and multiple telescopic rods are fixedly installed on the side wall of the electromagnet. A permanent magnet is fixedly installed on the end side of the multiple telescopic rods. A brake pad is fixedly installed on the side wall of the permanent magnet. The electromagnet, telescopic rods, permanent magnet and brake pad are all arranged symmetrically about the support ring, and the brake pads on both sides abut against the two side walls opposite to the circular groove.

[0011] Furthermore, each of the multiple telescopic rods has a spring fitted around its outer ring. One end of the spring is fixedly connected to an electromagnet, and the other end of the spring is fixedly connected to a permanent magnet.

[0012] Furthermore, the compensation component includes multiple fixed rods fixedly installed on the support plate, and multiple sleeves fixedly installed on the mounting plate at positions corresponding to the fixed rods. The sleeves are slidably connected to the fixed rods, and the interior of the sleeves is hollow. A spring is fixedly connected between the interior of the sleeves and the fixed rods.

[0013] Furthermore, the adjustment assembly includes two T-shaped grooves formed on the bottom surface of the mounting plate, and T-shaped blocks sliding symmetrically in both T-shaped grooves. The T-shaped blocks slide in conjunction with the T-shaped grooves. A bidirectional cylinder is symmetrically fixed to the bottom surface of the mounting plate, and a cross seat is fixed to each of the two output shafts of the bidirectional cylinder. The cross seat is fixedly connected to the T-shaped block.

[0014] Furthermore, a groove is provided in the cross seat, a support column is fixed in the middle of the groove, a dual-axis motor is fixedly installed inside the support column, and two output shafts of the dual-axis motor are respectively fixed with screws. The screws are rotatably engaged with the cross seat, and two sliding columns are slidably installed in the groove. The sliding columns are threadedly engaged with the screws.

[0015] Furthermore, the adsorption assembly is provided in multiple sets, and the adsorption assembly includes a support column fixedly installed on the bottom surface of the support column and the sliding column. A vacuum suction cup is fixed at the bottom of the support column, and a miniature vacuum pump is fixed on the side wall of the support column. A vacuum tube is connected to the miniature vacuum pump, and the vacuum tube is connected to the vacuum suction cup.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention uses a compensation component in conjunction with a rotatable turntable to adaptively match the angle of the tilted bracket during assembly, thereby achieving differentiated elastic deformation compensation, offsetting assembly errors and downward rigid impacts, avoiding damage to photovoltaic modules due to squeezing, and automatically resetting after the operation is completed, ensuring that the equipment can continuously perform cyclic assembly operations.

[0017] 2. This invention relies on a ranging sensor to collect real-time data on the dimensions and spacing of photovoltaic modules, which can be linked with the equipment to automatically adjust the adsorption point position. This eliminates the need for manual adjustment of the suction cup position, reduces human intervention, and effectively improves the overall automation level of the equipment.

[0018] 3. This invention features a two-stage adjustment structure consisting of a bidirectional cylinder and a dual-axis motor, which can precisely adjust the suction cup spacing according to the actual dimensions of the photovoltaic module, adapting to the gripping and installation of photovoltaic modules of various lengths and widths, thus improving the equipment's versatility and adaptability to different working conditions.

[0019] 4. The present invention adopts a multi-point vacuum negative pressure adsorption structure, which can evenly disperse the adsorption force of the photovoltaic module, avoid damage to the module caused by concentrated force at a single point, improve the gripping stability, prevent the module from slipping or falling off during the transfer process, and ensure operational safety.

[0020] 5. This invention uses a worm gear transmission structure to complete the attitude adjustment. The transmission operation is smooth and has mechanical self-locking performance. It can control the assembly angle of photovoltaic modules, effectively improve the alignment accuracy of the modules, and ensure that the attitude is regular and reliable in the early stage of assembly.

[0021] 6. This invention uses a tracked vehicle in conjunction with a multi-degree-of-freedom robotic arm to complete the entire transfer operation, which can realize the fully automatic transfer and transportation of photovoltaic modules, completely replacing manual handling, effectively avoiding the risk of bumps and damage during manual handling, and reducing the labor intensity of on-site construction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Partial structural diagram Figure 1 ; Figure 3 For the present invention Figure 1 Partial structural diagram Figure 2 ; Figure 4 For the present invention Figure 2 Sectional view; Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 For the present invention Figure 2 Cross-sectional view of the compensation component; Figure 7 This is a schematic diagram of the regulating component and the adsorption component of the present invention; Figure 8 For the present invention Figure 7 Exploded view of part of the structure.

[0023] In the diagram: 1. Tracked vehicle; 2. Robotic arm; 3. Shaft; 4. Drive assembly; 41. Fixing plate; 42. Servo motor; 43. Worm gear; 44. Worm wheel; 5. Mounting bracket; 51. Support plate; 6. Vertical pole; 7. Turntable; 8. Locking assembly; 81. Inner rod; 82. Outer rod; 83. Circular groove; 84. Support ring; 85. Electromagnet; 86. Telescopic rod; 87. Permanent magnet; 88. Brake pad; 89. Spring 1; 9. Compensation assembly; 91. 92. Fixed rod; 93. Sleeve; 10. Spring II; 11. Mounting plate; 12. Distance sensor; 13. Adjustment assembly; 14. T-slot; 15. T-block; 16. Horizontal seat; 17. Two-way cylinder; 18. Groove; 19. Support column; 10. Dual-axis motor; 11. Screw; 122. Sliding column; 13. Adsorption assembly; 14. Support column; 15. Vacuum suction cup; 16. Vacuum tube; 17. Miniature vacuum pump. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To address the technical problems of low efficiency, poor bonding accuracy, inability to adapt to the installation of photovoltaic modules of different specifications, unstable bonding on inclined surfaces, and poor equipment versatility in existing manual assembly of photovoltaic modules, the following preferred technical solutions are provided: like Figure 1 - Figure 8 As shown, a photovoltaic power generation and energy storage assembly device includes a robotic arm 2 fixedly mounted on a tracked vehicle 1. A rotating shaft 3 is rotatably mounted on the robotic arm 2. A mounting frame 5 is fixedly sleeved on the outer ring of the rotating shaft 3. A support plate 51 is fixedly mounted on the bottom of the mounting frame 5. A vertical pole 6 is fixedly mounted on the bottom bottom of the support plate 51. A turntable 7 is rotatably mounted on the outer ring of the bottom of the vertical pole 6. A mounting plate 10 is fixedly mounted on the outer ring of the turntable 7. Distance sensors 11 are symmetrically fixed on both sides of the mounting plate 10. The distance sensors 11 are of model GP2Y0A21YK0F. The infrared ranging sensor 11 is only a preferred example of the present invention and is not the only one. In actual implementation, it can be flexibly selected and replaced according to the equipment specifications, ranging range and installation conditions. Moreover, the ranging sensor 11 is electrically connected to the bidirectional cylinder 124, the dual-axis motor 127 and the electromagnet 85 of the locking assembly 8. It can collect photovoltaic module size information and distance information between photovoltaic module and mounting bracket in real time, and transmit the detection electrical signal to the adjustment assembly 12 and the locking assembly 8 in real time to realize the adaptive adjustment operation of the whole machine.

[0026] like Figure 3 and Figure 7 As shown, the bottom of the mounting plate 10 is provided with an adjustment component 12 and multiple adsorption components 13. The adjustment component 12 includes two T-shaped grooves 121 formed on the bottom surface of the mounting plate 10. T-shaped blocks 122 slide symmetrically in the two T-shaped grooves 121. The T-shaped blocks 122 slide with the T-shaped grooves 121. A bidirectional cylinder 124 is symmetrically fixed on the bottom surface of the mounting plate 10. The two output shafts of the bidirectional cylinder 124 are respectively fixed with a horizontal seat 123. The horizontal seat 123 is fixedly connected to the T-shaped blocks 122. Through the sliding engagement structure of the T-shaped grooves 121 and the T-shaped blocks 122, the stability of the horizontal seat 123 during the overall sliding process can be guaranteed, the limiting effect can be good, the offset and jamming can be effectively avoided, and the adjustment accuracy can be guaranteed.

[0027] like Figure 8As shown, a groove 125 is formed in the horizontal seat 123, and a support column 126 is fixed in the middle of the groove 125. A dual-axis motor 127 is fixedly installed inside the support column 126. The two output shafts of the dual-axis motor 127 are respectively fixed with screws 128. The screws 128 are rotatably engaged with the horizontal seat 123. Two sliding columns 129 are slidably installed in the groove 125, and the sliding columns 129 are threadedly engaged with the screws 128. After the ranging sensor 11 detects the width and length signals of photovoltaic modules of different specifications, it can control the bidirectional cylinder 124 to complete a large-range coarse adjustment of the spacing. At the same time, it controls the dual-axis motor 127 to drive the screws 128 to rotate, causing the sliding columns 129 on both sides to slide relative to or away from each other, thereby realizing the adjustment of the spacing of the adsorption modules 13. This allows the equipment to be adapted to the gripping and assembly of photovoltaic modules of different sizes and specifications, improving the versatility of the equipment.

[0028] like Figure 7 and Figure 8 As shown, the adsorption assembly 13 is provided in multiple sets. The adsorption assembly 13 includes a support column 131 fixedly installed on the bottom surface of the support column 126 and the sliding column 129. A vacuum suction cup 132 is fixed at the bottom of the support column 131, and a miniature vacuum pump 134 is fixed on the side wall of the support column 131. A vacuum tube 133 is connected to the miniature vacuum pump 134. The vacuum tube 133 is connected to the vacuum suction cup 132. Through the multi-point vacuum adsorption structure, the photovoltaic module can be grasped with stable and uniform negative pressure, ensuring that the photovoltaic module is subjected to uniform force during handling and assembly, avoiding deformation and breakage of the photovoltaic module caused by single-point force, and improving the safety and stability of photovoltaic module assembly.

[0029] Specifically, the tracked vehicle 1 first enables the machine to move autonomously and flexibly to the processing area. With the multi-degree-of-freedom rotation and extension of the robotic arm 2, the adjustment component 12 and adsorption component 13 at the bottom of the mounting plate 10 are driven to move smoothly close to the photovoltaic module to be grasped.

[0030] During the process of the equipment gradually approaching the photovoltaic module, the distance sensors 11 symmetrically arranged on both sides of the mounting plate 10 continuously collect parameters such as the shape, size and distance of the photovoltaic module in real time, and convert the collected detection signals into electronic control signals, which are transmitted in real time to the bidirectional cylinder 124 and the dual-axis motor 127, providing data support for the adaptive adjustment of the adsorption point.

[0031] When the bidirectional cylinder 124 receives the electronic control signal transmitted by the ranging sensor 11, it starts working synchronously. The output shafts on both sides of the bidirectional cylinder 124 move synchronously, directly driving the horizontal seats 123 fixed at both ends to adjust their lateral displacement. Since the horizontal seats 123 are fixedly connected to the T-shaped blocks 122, and the T-shaped blocks 122 slide in cooperation with the T-shaped grooves 121 on the bottom surface of the mounting plate 10, the horizontal seats 123 slide laterally, simultaneously driving the T-shaped blocks 122 to slide smoothly along the inside of the T-shaped grooves 121. Relying on the limiting and guiding structure of the T-shaped grooves 121 and the T-shaped blocks 122, the sliding process of the horizontal seats 123 is ensured to be smooth, without deviation or jamming. The bidirectional cylinder 124 completes a large-range coarse adjustment of the overall length distance between the two sets of adsorption components 13 through lateral sliding adjustment, which can adapt to the installation requirements of photovoltaic modules of different lengths.

[0032] At the same time, the dual-axis motor 127 synchronously responds to the control signal of the ranging sensor 11 and starts working. The output shafts at both ends of the dual-axis motor 127 synchronously drive the corresponding screws 128 to rotate. By utilizing the threaded transmission between the screws 128 and the sliding columns 129, the sliding columns 129 on both sides are driven to slide relative to each other or slide back to back inside the groove 125, thereby completing the adjustment of the width spacing inside the single adsorption assembly 13.

[0033] The equipment employs a two-stage adjustment mechanism: a bidirectional cylinder 124 for coarse length adjustment and a dual-axis motor 127 for fine width adjustment. This allows the equipment to match the adsorption positions to photovoltaic modules of different lengths and widths, ensuring that the adsorption points of each set of vacuum suction cups 132 are evenly and symmetrically distributed on the surface of the photovoltaic modules in both the horizontal and vertical directions. This adapts the equipment to various length and width specifications of photovoltaic modules on the market, effectively solving the shortcomings of traditional photovoltaic assembly equipment, such as fixed structure, inability to adapt to multiple specifications of modules, and poor equipment versatility.

[0034] After the adsorption point adjustment is completed and the alignment is accurate, the tracked vehicle 1 and the robotic arm 2 work together to adjust the position and control each set of vacuum suction cups 132 to be stably attached to the flat surface of the photovoltaic module. Then, the miniature vacuum pumps 134 on the side walls of each support column 131 are started. The miniature vacuum pumps 134 continuously extract the air inside the vacuum suction cups 132 through the vacuum tubes 133, so that a stable negative pressure environment is formed inside the vacuum suction cups 132. The photovoltaic module is tightly attached and fixed by the negative pressure adsorption force.

[0035] The structure design of multi-point synchronous negative pressure adsorption can make the overall force of the photovoltaic module evenly distributed, eliminating the problem of concentrated force in the traditional single-point adsorption method, which leads to the photovoltaic module being squeezed, deformed, broken, or falling off. This effectively improves the stability and safety of photovoltaic module gripping operations.

[0036] After the photovoltaic module is gripped and fixed, the movement of the tracked vehicle 1, combined with the multi-degree-of-freedom posture adjustment of the robotic arm 2, drives the adsorption component 13 and the gripped and fixed photovoltaic module to be smoothly transferred as a whole. The photovoltaic module is then accurately transferred to the installation position above the photovoltaic module bracket, thus completing the previous photovoltaic module gripping and transfer process and laying a good operational foundation for subsequent precise bonding operations.

[0037] To address the technical challenges of existing photovoltaic assembly equipment, such as its inability to adapt to the inclined angle of the support frame, poor installation fit, and insufficient stability of the turntable 7 rotation locking mechanism, the following preferred technical solutions are provided: like Figure 1 - Figure 6 As shown, the robotic arm 2 is equipped with a drive assembly 4 that drives the rotating shaft 3 to rotate. The drive assembly 4 includes two fixed plates 41 fixedly installed on the robotic arm 2. A servo motor 42 is fixedly installed on the top surface of one of the fixed plates 41. A worm gear 43 is fixedly installed on the output shaft of the servo motor 42. The worm gear 43 is rotatably connected to the two fixed plates 41. A worm wheel 44 is fixedly sleeved on the outer ring of the rotating shaft 3. The worm gear 43 and the worm wheel 44 mesh with each other. The worm wheel 43 and worm gear 44 transmission structure has the advantages of smooth transmission, good deceleration effect and strong self-locking performance. It can control the rotation angle of the rotating shaft 3 and the overall mounting frame 5 to ensure that the photovoltaic module assembly posture is controllable.

[0038] like Figure 4 and Figure 5 As shown, a locking assembly 8 is provided between the turntable 7 and the upright 6 to restrict the rotation of the turntable 7. The locking assembly 8 includes an inner rod 81 fixedly installed in the turntable 7 and an outer rod 82 fixedly installed in the upright 6. The inner rod 81 and the outer rod 82 are rotatably engaged. A circular groove 83 is opened in the inner rod 81. A support ring 84 is fixedly installed in the inner ring of the outer rod 82. The support ring 84 and the inner rod 81 are rotatably engaged through the circular groove 83.

[0039] like Figure 4 and Figure 5As shown, an electromagnet 85 is fixedly installed on the side wall of the support ring 84. The electromagnet 85 is electrically connected to the aforementioned distance sensor 11. After the distance sensor 11 detects the distance signal between the photovoltaic module and the bracket, it can adaptively control the on / off state of the electromagnet 85 to realize the automatic unlocking and locking of the locking component 8 and complete the adaptive angle adjustment operation. Multiple telescopic rods 86 are fixedly installed on the side wall of the electromagnet 85. A permanent magnet 87 is fixedly fixed to the end of the multiple telescopic rods 86. A brake pad 88 is fixedly installed on the side wall of the permanent magnet 87. The brake pad 88 is made of asbestos resin material with high wear resistance and high friction coefficient. It has excellent wear resistance and high braking friction, which can ensure long-term frequent braking. The braking operation is wear-free and non-slip. The electromagnet 85, telescopic rod 86, permanent magnet 87 and brake pad 88 are all symmetrically arranged about the support ring 84. The brake pads 88 on both sides abut against the two opposite side walls of the circular groove 83. The brake pads 88 on both sides can simultaneously abut against the left and right opposite side walls of the circular groove 83. The bidirectional symmetrical abutment structure can make the turntable 7 evenly stressed when locked, avoiding the problems of uneven load, jamming and shaking caused by unilateral braking, and improving the locking stability and assembly accuracy of the turntable 7. The outer ring of multiple telescopic rods 86 is fitted with springs 89. One end of spring 89 is fixedly connected to the electromagnet 85, and the other end of spring 89 is fixedly connected to the permanent magnet 87.

[0040] like Figure 6 As shown, a compensation component 9 is provided between the mounting plate 10 and the support plate 51. Four sets of compensation components 9 are symmetrically distributed around the perimeter between the support plate 51 and the mounting plate 10. Each compensation component 9 includes multiple fixing rods 91 fixedly installed on the support plate 51. Multiple sleeves 92 are fixed on the mounting plate 10 at positions corresponding to the fixing rods 91. The sleeves 92 are slidably connected to the fixing rods 91. The sleeves 92 are hollow inside. A spring 93 is fixedly connected between the sleeve 92 and the fixing rod 91. During the assembly of the photovoltaic module bonding bracket, the spring 93 can self-compress to achieve vertical displacement buffer compensation, effectively offsetting assembly errors and avoiding damage to the photovoltaic module caused by rigid compression. When the assembly is completed and the equipment is lifted, the spring 93 can automatically spring back to its original position, allowing the sleeves 92 and the fixing rods 91 to return to their initial assembly positions, ensuring continuous cyclic operation of the equipment.

[0041] Specifically, after the equipment moves the grasped photovoltaic module to the top of the photovoltaic module support, the initial alignment adjustment of the overall posture is first completed by driving the module 4. The operator can start the servo motor 42 through the control system. The output shaft of the servo motor 42 drives the worm gear 43 to rotate continuously. The worm gear 43 runs smoothly under the limit support of the two fixed plates 41. Through meshing transmission, it drives the worm wheel 44 to rotate synchronously, thereby driving the rotating shaft 3 and the bottom mounting bracket 5, support plate 51, upright 6, turntable 7 and the overall adsorption assembly structure to rotate as a whole. Utilizing the smooth transmission, high deceleration accuracy and self-locking characteristics of the worm wheel 43 and worm gear 44, the rotation angle of the overall structure can be controlled to complete the coarse calibration of the photovoltaic module assembly posture, so that the photovoltaic module and the photovoltaic module support below can be initially aligned, improving the alignment accuracy in the early stage of assembly.

[0042] In the static state after the equipment is in standby mode, photovoltaic module transfer, and attitude coarse adjustment, the locking component 8 always remains in a normally locked state. At this time, the electromagnet 85 is de-energized and demagnetized, with no magnetic attraction force output. The spring 89 on the outer ring of the telescopic rod 86 remains in a naturally extended state, continuously pushing the permanent magnet 87 outward. This causes the brake pad 88 fixed at the end of the permanent magnet 87 to press tightly against the left and right opposite side walls of the circular groove 83. Since the electromagnet 85, telescopic rod 86, permanent magnet 87, and brake pad 88 all adopt a centrally symmetrical arrangement structure, the brake pads 88 on both sides can simultaneously brake the circular groove 83 in both directions. This forms a stable rigid locking structure between the inner rod 81 and the support ring 84, and between the turntable 7 and the upright rod 6, completely restricting the free rotation of the turntable 7. This prevents structural shaking, angle deviation, and off-center loading jamming during equipment transfer and alignment, ensuring the stability of the photovoltaic module transfer attitude.

[0043] As the robotic arm 2 slowly lowers the photovoltaic module, bringing it closer to and initially contacting the photovoltaic module bracket, the distance sensors 11 on both sides of the mounting plate 10 detect the contact distance signal in real time and transmit the detection signal to the electromagnet 85 in real time, controlling the electromagnet 85 to be energized. After the electromagnet 85 is energized, it generates a magnetic attraction force. The magnetic attraction force overcomes the elastic force of the spring 89, pulling the permanent magnet 87 back towards the electromagnet 85. Simultaneously, it drives the brake pad 88 to disengage from the inner wall of the circular groove 83, releasing the bidirectional braking limit of the brake pad 88 on the circular groove 83. At this time, the inner rod 81 can rotate freely relative to the outer rod 82 with the turntable 7, so that the mounting plate 10 at the bottom and the adsorption component 13 have the ability to adaptively adjust the angle.

[0044] If the photovoltaic module support has a tilt angle or an assembly height error, the photovoltaic module will be blocked by the inclined surface of the support during the lowering and bonding process, and cannot be bonded vertically as a whole. At this time, the higher side of the support will first lift the corresponding end of the photovoltaic module, raising the position of the mounting plate 10 on that side, causing the sleeve 92 at the corresponding position to slide upward along the fixing rod 91, compressing the spring 93 on that side; while the lower side of the support is still in the normal lowering stroke, the sleeve 92 at the corresponding position moves down with the mounting plate 10, and moderately stretches the spring 93 on that side.

[0045] Relying on four sets of symmetrically and independently arranged compensation components 9, the equipment can achieve differentiated adaptive deformation with spring compression on one side and spring tension on the other side, so that the mounting plate 10 automatically tilts and levels itself according to the angle of the bracket slope, always keeping the photovoltaic module panel completely in contact with the bracket slope, effectively offsetting bracket tilt error, installation plane error and mechanical assembly error, eliminating local suspension, one-sided hard contact and uneven force, and avoiding photovoltaic module crushing and chipping.

[0046] Meanwhile, under the guiding action of the inclined surface of the bracket, the unlocked turntable 7 can rotate slightly on its own, causing the bottom photovoltaic module to adaptively match the tilt angle of the bracket. Combined with the bidirectional adaptive leveling action of the four sets of compensation components 9 with compression on one side and stretching on the other side, the photovoltaic module panel can be completely, flat and uniformly attached to the inclined surface of the bracket, improving the assembly and fitting accuracy and installation quality.

[0047] Once the photovoltaic modules are fully bonded, installed, and positioned, the micro vacuum pumps 134 are turned off, releasing the negative pressure from the vacuum tubes 133 onto the vacuum suction cups 132. Outside air enters the vacuum suction cups 132, causing them to lose their negative pressure suction and completely loosen their bond with the photovoltaic module surface. After the negative pressure suction is completely released, the entire equipment is slowly lifted upwards, allowing the vacuum suction cups 132 to smoothly detach from the photovoltaic module surface. This avoids directly lifting and pulling the assembled photovoltaic modules, preventing issues such as module displacement, tilting, and installation deviation.

[0048] After the photovoltaic module is completely detached from the suction cup and the equipment is lifted, the pressure force between the photovoltaic module and the bracket disappears. The springs 93 in all four directions are released from compression and stretching deformation and automatically rebound to reset. They push the sleeves 92 and the fixing rods 91 in the corresponding positions to restore their initial relative positions, so that the mounting plate 10 can quickly return to the horizontal state and ensure that the equipment can carry out assembly operations continuously.

[0049] At the same time, the ranging sensor 11 detects that the equipment is lifted and the components are out of contact, and controls the electromagnet 85 to be de-energized. The spring 89 extends again to push the brake pad 88 against the side wall of the circular groove 83, and re-locks the angle of the turntable 7. The equipment returns to a stable and rigid state and enters the next working cycle.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic power generation and energy storage assembly device, comprising a robotic arm (2) fixedly mounted on a tracked vehicle (1), characterized in that: A rotating shaft (3) is rotatably mounted on the robotic arm (2). A drive assembly (4) for driving the rotating shaft (3) to rotate is provided on the robotic arm (2). A mounting bracket (5) is fixedly sleeved on the outer ring of the rotating shaft (3). A support plate (51) is fixedly mounted on the bottom of the mounting bracket (5). A vertical rod (6) is fixedly mounted on the bottom middle of the support plate (51). A turntable (7) is rotatably mounted on the bottom outer ring of the vertical rod (6). A locking assembly (8) for restricting the rotation of the turntable (7) is provided between the turntable (7) and the vertical rod (6). A mounting plate (10) is fixedly mounted on the outer ring of the turntable (7). A compensation assembly (9) is provided between the mounting plate (10) and the support plate (51). Distance sensors (11) are symmetrically fixed on both sides of the mounting plate (10). An adjustment assembly (12) and multiple adsorption assemblies (13) are provided at the bottom of the mounting plate (10).

2. The photovoltaic power generation and energy storage assembly equipment according to claim 1, characterized in that: The drive assembly (4) includes two fixed plates (41) fixedly mounted on the robotic arm (2). A servo motor (42) is fixedly mounted on the top surface of one of the fixed plates (41). A worm gear (43) is fixed to the output shaft of the servo motor (42). The worm gear (43) is rotatably connected to the two fixed plates (41).

3. The photovoltaic power generation and energy storage assembly equipment according to claim 2, characterized in that: The outer ring of the rotating shaft (3) is fixedly sleeved with a worm gear (44), and the worm (43) meshes with the worm gear (44).

4. The photovoltaic power generation and energy storage assembly equipment according to claim 1, characterized in that: The locking assembly (8) includes an inner rod (81) fixedly installed in the turntable (7), an outer rod (82) fixedly installed in the upright (6), the inner rod (81) and the outer rod (82) are rotatably engaged, a circular groove (83) is provided in the inner rod (81), and a support ring (84) is fixedly installed in the inner ring of the outer rod (82), and the support ring (84) and the inner rod (81) are rotatably engaged through the circular groove (83).

5. The photovoltaic power generation and energy storage assembly equipment according to claim 4, characterized in that: An electromagnet (85) is fixedly installed on the side wall of the support ring (84). Multiple telescopic rods (86) are fixedly installed on the side wall of the electromagnet (85). A permanent magnet (87) is fixedly installed on the end side of the multiple telescopic rods (86). A brake pad (88) is fixedly installed on the side wall of the permanent magnet (87). The electromagnet (85), telescopic rods (86), permanent magnet (87) and brake pad (88) are all symmetrically arranged about the support ring (84). The brake pads (88) on both sides abut against the two side walls opposite to the circular groove (83).

6. The photovoltaic power generation and energy storage assembly equipment according to claim 5, characterized in that: Each of the telescopic rods (86) has a spring (89) fitted around its outer ring. One end of the spring (89) is fixedly connected to an electromagnet (85), and the other end of the spring (89) is fixedly connected to a permanent magnet (87).

7. The photovoltaic power generation and energy storage assembly equipment according to claim 1, characterized in that: The compensation component (9) includes multiple fixed rods (91) fixedly installed on the support plate (51). Multiple sleeves (92) are fixed on the mounting plate (10) at positions corresponding to the fixed rods (91). The sleeves (92) are slidably connected to the fixed rods (91). The sleeves (92) are hollow inside. A spring (93) is fixedly connected between the sleeves (92) and the fixed rods (91).

8. The photovoltaic power generation and energy storage assembly equipment according to claim 1, characterized in that: The adjustment assembly (12) includes two T-shaped grooves (121) formed on the bottom surface of the mounting plate (10). T-shaped blocks (122) slide symmetrically in both T-shaped grooves (121). The T-shaped blocks (122) slide in conjunction with the T-shaped grooves (121). A bidirectional cylinder (124) is symmetrically fixed on the bottom surface of the mounting plate (10). A cross seat (123) is fixed to each of the two output shafts of the bidirectional cylinder (124). The cross seat (123) is fixedly connected to the T-shaped block (122).

9. A photovoltaic power generation and energy storage assembly device according to claim 8, characterized in that: The cross seat (123) has a groove (125) inside, and a support column (126) is fixed in the middle of the groove (125). A dual-axis motor (127) is fixedly installed inside the support column (126). The two output shafts of the dual-axis motor (127) are respectively fixed with screws (128). The screws (128) are rotatably engaged with the cross seat (123). Two sliding columns (129) are slidably installed in the groove (125). The sliding columns (129) are threadedly engaged with the screws (128).

10. A photovoltaic power generation and energy storage assembly device according to claim 9, characterized in that: The adsorption assembly (13) is provided in multiple sets. The adsorption assembly (13) includes a support column (131) fixedly installed on the bottom surface of the support column (126) and the sliding column (129). A vacuum suction cup (132) is fixed at the bottom of the support column (131). A miniature vacuum pump (134) is fixed on the side wall of the support column (131). A vacuum tube (133) is connected to the miniature vacuum pump (134). The vacuum tube (133) is connected to the vacuum suction cup (132).

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